void SafeManager::run()
{
WAIT_SEMAPHOR();
ThreadAction local_action = action;
std::vector<int> local_modIds = modIds;
std::vector<int> local_conIds = conIds;
std::vector<int> local_resIds = resIds;
POST_SEMAPHOR();
switch(local_action){
case MRUN:{
std::vector<double> waitVec;
for (unsigned int i=0; i<local_modIds.size(); i++)
{
Executable * exec = Manager::getExecutableById(local_modIds[i]);
if (exec)
{
waitVec.push_back(exec->getPostExecWait());
}
}
double minWait=*std::min_element(waitVec.begin(), waitVec.end());
for (unsigned int i=0; i<local_modIds.size(); i++)
{
Executable * exec = Manager::getExecutableById(local_modIds[i]);
if (exec)
{
exec->setPostExecWait(exec->getPostExecWait() - minWait);
}
Manager::run(local_modIds[i], true);
}
/*
for(unsigned int i=0; i<local_modIds.size(); i++)
Manager::waitingModuleRun(local_modIds[i]);
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::connected(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
for(unsigned int i=0; i<local_resIds.size(); i++)
{
if(Manager::exist(local_resIds[i]))
{
if(eventReceiver) eventReceiver->onResAvailable(local_resIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onResUnAvailable(local_resIds[i]);
}
}*/
break;
}
case MSTOP:{
std::vector<double> waitVec;
for (unsigned int i=0; i<local_modIds.size(); i++)
{
Executable * exec = Manager::getExecutableById(local_modIds[i]);
if (exec)
{
waitVec.push_back(exec->getPostStopWait());
}
}
double minWait=*std::min_element(waitVec.begin(), waitVec.end());
for (unsigned int i=0; i<local_modIds.size(); i++)
{
Executable * exec = Manager::getExecutableById(local_modIds[i]);
if (exec)
{
exec->setPostStopWait(exec->getPostStopWait() - minWait);
}
Manager::stop(local_modIds[i], true);
}
/*for(unsigned int i=0; i<local_modIds.size(); i++)
Manager::waitingModuleStop(local_modIds[i]);
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::connected(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
for(unsigned int i=0; i<local_resIds.size(); i++)
{
if(Manager::exist(local_resIds[i]))
{
if(eventReceiver) eventReceiver->onResAvailable(local_resIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onResUnAvailable(local_resIds[i]);
}
}*/
break;
}
case MKILL:{
for(unsigned int i=0; i<local_modIds.size(); i++)
Manager::kill(local_modIds[i], true);
/*for(unsigned int i=0; i<local_modIds.size(); i++)
Manager::waitingModuleKill(local_modIds[i]);
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::connected(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
for(unsigned int i=0; i<local_resIds.size(); i++)
{
if(Manager::exist(local_resIds[i]))
{
if(eventReceiver) eventReceiver->onResAvailable(local_resIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onResUnAvailable(local_resIds[i]);
}
}*/
break;
}
case MCONNECT:{
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::connect(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
break;
}
case MDISCONNECT:{
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::disconnect(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
break;
}
case MREFRESH:{
busyAction = true;
for(unsigned int i=0; i<local_modIds.size(); i++)
{
if(Manager::running(local_modIds[i]))
{
if(eventReceiver) eventReceiver->onModStart(local_modIds[i]);
}
else //if(Manager::suspended(local_modIds[i]))
{
if(eventReceiver) eventReceiver->onModStop(local_modIds[i]);
}
}
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::connected(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
for(unsigned int i=0; i<local_resIds.size(); i++)
{
if(Manager::exist(local_resIds[i]))
{
if(eventReceiver) eventReceiver->onResAvailable(local_resIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onResUnAvailable(local_resIds[i]);
}
}
busyAction = false;
break;
}
case MREFRESH_CNN:{
for(unsigned int i=0; i<local_conIds.size(); i++)
{
if(Manager::connected(local_conIds[i]))
{
if(eventReceiver) eventReceiver->onConConnect(local_conIds[i]);
}
else
{
if(eventReceiver) eventReceiver->onConDisconnect(local_conIds[i]);
}
refreshPortStatus(local_conIds[i]);
}
break;
}
case MATTACHSTDOUT:{
for(unsigned int i=0; i<local_modIds.size(); i++)
Manager::attachStdout(local_modIds[i]);
break;
}
case MDETACHSTDOUT:{
for(unsigned int i=0; i<local_modIds.size(); i++)
Manager::detachStdout(local_modIds[i]);
break;
}
case MLOADBALANCE:{
busyAction = true;
Manager::loadBalance();
if(eventReceiver) eventReceiver->onLoadBalance();
busyAction = false;
break;
}
default:
break;
};
if(eventReceiver)
eventReceiver->onError();
}
bool Manager::prepare(bool silent)
{
knowledge.reasolveDependency(strAppName.c_str(), bAutoDependancy, silent);
clearExecutables();
connections.clear();
modules.clear();
resources.clear();
connections = knowledge.getSelConnection();
modules = knowledge.getSelModules();
resources = knowledge.getSelResources();
/**
* we need to initialize a module with a local broker if the
* host property is set to "localhost".
*
* TODO: Resources should also be added to the relevant executable. up to now
* all of them will be handled by manager.
*/
ModulePIterator itr;
int id = 0;
for(itr=modules.begin(); itr!=modules.end(); itr++)
{
Broker* broker = createBroker(*itr);
Executable* exe = new Executable(broker, (MEvent*)this, bWithWatchDog);
exe->setID(id++);
exe->setCommand((*itr)->getName());
exe->setParam((*itr)->getParam());
exe->setHost((*itr)->getHost());
exe->setStdio((*itr)->getStdio());
exe->setWorkDir((*itr)->getWorkDir());
exe->setPostExecWait((*itr)->getPostExecWait());
string env = string("YARP_PORT_PREFIX=") +
string((*itr)->getPrefix());
exe->setEnv(env.c_str());
/**
* Adding connections to their owners
* TODO: check whether this is still needed or not
*/
//CnnIterator cnn;
//for(cnn=connections.begin(); cnn!=connections.end(); cnn++)
// if((*cnn).owner() == (*itr))
// exe->addConnection(*cnn);
/**
* Adding resources to their owners
*/
for(unsigned int i=0; i<resources.size(); i++)
{
ResYarpPort* res = dynamic_cast<ResYarpPort*>(resources[i]);
if(res && (res->owner() == (*itr)))
exe->addResource(*res);
}
runnables.push_back(exe);
}
return true;
}
